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<div class="title">harris_3d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_HARRIS_KEYPOINT_3D_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_HARRIS_KEYPOINT_3D_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT = pcl::Normal&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint3_d.html">   52</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_harris_keypoint3_d.html">HarrisKeypoint3D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;HarrisKeypoint3D&lt;PointInT, PointOutT, NormalT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const HarrisKeypoint3D&lt;PointInT, PointOutT, NormalT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Keypoint&lt;PointInT, PointOutT&gt;::KdTree</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::keypoints_indices_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::setInputCloud</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">enum</span> {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE} ResponseMethod;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint3_d.html#a1afa16c2e7c1b8b8a1cca616b1845a18">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a1afa16c2e7c1b8b8a1cca616b1845a18">HarrisKeypoint3D</a> (ResponseMethod method = HARRIS, <span class="keywordtype">float</span> radius = 0.01f, <span class="keywordtype">float</span> threshold = 0.0f)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      : threshold_ (threshold)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      , refine_ (true)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      , nonmax_ (true)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      , method_ (method)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      , threads_ (0)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;HarrisKeypoint3D&quot;</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = radius;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint3_d.html#a665dc1c02bf5bc26d59f1ca7ae9334d7">   98</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a665dc1c02bf5bc26d59f1ca7ae9334d7">~HarrisKeypoint3D</a> () {}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a5699be5c91d0aa6294d1db9d185c3790">setInputCloud</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#abf699289812b5dc5cc79b97df93767a1">setMethod</a> (ResponseMethod type);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a9c95472adc1a41da8860edae7fbf9e90">setRadius</a> (<span class="keywordtype">float</span> radius);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#ad5874363fb23e47c4d3bb038fcb30c1c">setThreshold</a> (<span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#ab7d78e7ad7d9505fea7bfa7d2e836023">setNonMaxSupression</a> (<span class="keywordtype">bool</span> = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#af0d6b4d9dae5e0ff5137c19b4352e27e">setRefine</a> (<span class="keywordtype">bool</span> do_refine);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a70fba15fb0957bf087d3a17b096545c7">setNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint3_d.html#a8221211931ea9dc40dd81d7408cdb593">  153</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a8221211931ea9dc40dd81d7408cdb593">setSearchSurface</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud) { <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a> = cloud; normals_.reset(); }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_harris_keypoint3_d.html#a7f7a8adf1f523ef11509e2e2dcda78d9">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a7f7a8adf1f523ef11509e2e2dcda78d9">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { threads_ = nr_threads; }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a2b3225054750d69cdd9232104871520f">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a5fc92825eb963fbab8a538644594e8cc">responseHarris</a> (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">void</span> responseNoble (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordtype">void</span> responseLowe (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordtype">void</span> responseTomasi (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordtype">void</span> responseCurvature (PointCloudOut &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span> refineCorners (PointCloudOut &amp;corners) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_harris_keypoint3_d.html#a058026af18e6580f2cde085f33536311">calculateNormalCovar</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; neighbors, <span class="keywordtype">float</span>* coefficients) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">float</span> threshold_;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">bool</span> refine_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">bool</span> nonmax_;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      ResponseMethod method_;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      PointCloudNConstPtr normals_;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threads_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/harris_3d.hpp&gt;</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_HARRIS_KEYPOINT_3D_H_</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html">pcl::HarrisKeypoint3D</a></div><div class="ttdoc">HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients,...</div><div class="ttdef"><b>Definition:</b> harris_3d.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a058026af18e6580f2cde085f33536311"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a058026af18e6580f2cde085f33536311">pcl::HarrisKeypoint3D::calculateNormalCovar</a></div><div class="ttdeci">void calculateNormalCovar(const std::vector&lt; int &gt; &amp;neighbors, float *coefficients) const</div><div class="ttdoc">calculates the upper triangular part of unnormalized covariance matrix over the normals given by the ...</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:106</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a1afa16c2e7c1b8b8a1cca616b1845a18"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a1afa16c2e7c1b8b8a1cca616b1845a18">pcl::HarrisKeypoint3D::HarrisKeypoint3D</a></div><div class="ttdeci">HarrisKeypoint3D(ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> harris_3d.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a2b3225054750d69cdd9232104871520f"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a2b3225054750d69cdd9232104871520f">pcl::HarrisKeypoint3D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract key point detection method.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:241</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a5699be5c91d0aa6294d1db9d185c3790"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a5699be5c91d0aa6294d1db9d185c3790">pcl::HarrisKeypoint3D::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a5fc92825eb963fbab8a538644594e8cc"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a5fc92825eb963fbab8a538644594e8cc">pcl::HarrisKeypoint3D::responseHarris</a></div><div class="ttdeci">void responseHarris(PointCloudOut &amp;output) const</div><div class="ttdoc">gets the corner response for valid input points</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:322</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a665dc1c02bf5bc26d59f1ca7ae9334d7"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a665dc1c02bf5bc26d59f1ca7ae9334d7">pcl::HarrisKeypoint3D::~HarrisKeypoint3D</a></div><div class="ttdeci">virtual ~HarrisKeypoint3D()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> harris_3d.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a70fba15fb0957bf087d3a17b096545c7"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a70fba15fb0957bf087d3a17b096545c7">pcl::HarrisKeypoint3D::setNormals</a></div><div class="ttdeci">void setNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Set normals if precalculated normals are available.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:99</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a7f7a8adf1f523ef11509e2e2dcda78d9"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a7f7a8adf1f523ef11509e2e2dcda78d9">pcl::HarrisKeypoint3D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> harris_3d.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a8221211931ea9dc40dd81d7408cdb593"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a8221211931ea9dc40dd81d7408cdb593">pcl::HarrisKeypoint3D::setSearchSurface</a></div><div class="ttdeci">virtual void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to a dataset to add additional information to estimate the features for every point...</div><div class="ttdef"><b>Definition:</b> harris_3d.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_a9c95472adc1a41da8860edae7fbf9e90"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#a9c95472adc1a41da8860edae7fbf9e90">pcl::HarrisKeypoint3D::setRadius</a></div><div class="ttdeci">void setRadius(float radius)</div><div class="ttdoc">Set the radius for normal estimation and non maxima supression.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:78</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_ab7d78e7ad7d9505fea7bfa7d2e836023"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#ab7d78e7ad7d9505fea7bfa7d2e836023">pcl::HarrisKeypoint3D::setNonMaxSupression</a></div><div class="ttdeci">void setNonMaxSupression(bool=false)</div><div class="ttdoc">Whether non maxima suppression should be applied or the response for each point should be returned</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_abf699289812b5dc5cc79b97df93767a1"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#abf699289812b5dc5cc79b97df93767a1">pcl::HarrisKeypoint3D::setMethod</a></div><div class="ttdeci">void setMethod(ResponseMethod type)</div><div class="ttdoc">Set the method of the response to be calculated.</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_ad5874363fb23e47c4d3bb038fcb30c1c"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#ad5874363fb23e47c4d3bb038fcb30c1c">pcl::HarrisKeypoint3D::setThreshold</a></div><div class="ttdeci">void setThreshold(float threshold)</div><div class="ttdoc">Set the threshold value for detecting corners. This is only evaluated if non maxima suppression is tu...</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1_harris_keypoint3_d_html_af0d6b4d9dae5e0ff5137c19b4352e27e"><div class="ttname"><a href="classpcl_1_1_harris_keypoint3_d.html#af0d6b4d9dae5e0ff5137c19b4352e27e">pcl::HarrisKeypoint3D::setRefine</a></div><div class="ttdeci">void setRefine(bool do_refine)</div><div class="ttdoc">Whether the detected key points should be refined or not. If turned of, the key points are a subset o...</div><div class="ttdef"><b>Definition:</b> harris_3d.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a1998c46514f3f8d8d7665f6b505ca389"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">pcl::Keypoint::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3bf7980bf7404eb9b5571afbbc2001f5"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">pcl::Keypoint::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
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